ESP32 fix PWM LEDC inverted pin mode

DCCTimer.h

@@ -65,10 +65,12 @@ class DCCTimer {
   static void startRailcomTimer(byte brakePin);
   static void ackRailcomTimer();
   static void DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency);
-  static void DCCEXanalogWrite(uint8_t pin, int value);
+  static void DCCEXanalogWrite(uint8_t pin, int value, bool invert);
   static void DCCEXledcDetachPin(uint8_t pin);
-  static void DCCEXanalogCopyChannel(uint8_t frompin, uint8_t topin);
+  static void DCCEXanalogCopyChannel(int8_t frompin, int8_t topin);
-  static void DCCEXInrushControlOn(uint8_t pin, int duty);
+  static void DCCEXInrushControlOn(uint8_t pin, int duty, bool invert);
+  static void DCCEXledcAttachPin(uint8_t pin, int8_t channel, bool inverted);
+
 // Update low ram level.  Allow for extra bytes to be specified
 // by estimation or inspection, that may be used by other 
 // called subroutines.  Must be called with interrupts disabled.

DCCTimerESP.cpp

@@ -197,13 +197,48 @@ void DCCTimer::DCCEXledcDetachPin(uint8_t pin) {
   pinMatrixOutDetach(pin, false, false);
 }
 
+static byte LEDCToMux[] = {
+  LEDC_HS_SIG_OUT0_IDX,
+  LEDC_HS_SIG_OUT1_IDX,
+  LEDC_HS_SIG_OUT2_IDX,
+  LEDC_HS_SIG_OUT3_IDX,
+  LEDC_HS_SIG_OUT4_IDX,
+  LEDC_HS_SIG_OUT5_IDX,
+  LEDC_HS_SIG_OUT6_IDX,
+  LEDC_HS_SIG_OUT7_IDX,
+  LEDC_LS_SIG_OUT0_IDX,
+  LEDC_LS_SIG_OUT1_IDX,
+  LEDC_LS_SIG_OUT2_IDX,
+  LEDC_LS_SIG_OUT3_IDX,
+  LEDC_LS_SIG_OUT4_IDX,
+  LEDC_LS_SIG_OUT5_IDX,
+  LEDC_LS_SIG_OUT6_IDX,
+  LEDC_LS_SIG_OUT7_IDX,
+};
 
-void DCCTimer::DCCEXanalogCopyChannel(uint8_t frompin, uint8_t topin) {
+void DCCTimer::DCCEXledcAttachPin(uint8_t pin, int8_t channel, bool inverted) {
-  DIAG(F("Pin %d copied to %d channel %d"), frompin, topin, pin_to_channel[frompin]);
+  DIAG(F("Attaching pin %d to channel %d %c"), pin, channel, inverted ? 'I' : ' ');
-  pin_to_channel[topin] = pin_to_channel[frompin];
+  ledcAttachPin(pin, channel);
-  ledcAttachPin(topin, pin_to_channel[topin]);
+  if (inverted) // we attach again but with inversion
+    gpio_matrix_out(pin, LEDCToMux[channel], inverted, 0);
 }
-void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
+
+void DCCTimer::DCCEXanalogCopyChannel(int8_t frompin, int8_t topin) {
+  // arguments are signed depending on inversion of pins
+  DIAG(F("Pin %d copied to %d"), frompin, topin);
+  bool inverted = false;
+  if (frompin<0)
+    frompin = -frompin;
+  if (topin<0) {
+    inverted = true;
+    topin = -topin;
+  }
+  int channel = pin_to_channel[frompin]; // after abs(frompin)
+  pin_to_channel[topin] = channel;
+  DCCTimer::DCCEXledcAttachPin(topin, channel, inverted);
+}
+
+void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value, bool invert) {
   // This allocates channels 15, 13, 11, ....
   // so each channel gets its own timer.
   if (pin < SOC_GPIO_PIN_COUNT) {
@@ -237,17 +272,20 @@ void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
 	--cnt_channel;                       // Now we are at 14, 12, ...
       }
       ledcSetup(pin_to_channel[pin], 1000, 8);
-      ledcAttachPin(pin, pin_to_channel[pin]);
+      DCCEXledcAttachPin(pin, pin_to_channel[pin], invert);
     } else {
-      //DIAG(F("Pin %d assigned to old channel %d"), pin, pin_to_channel[pin]);
+      // This else is only here so we can enable diag
-      ledcAttachPin(pin, pin_to_channel[pin]);
+      // Pin should be already attached to channel
+      // DIAG(F("Pin %d assigned to old channel %d"), pin, pin_to_channel[pin]);
     }
     ledcWrite(pin_to_channel[pin], value);
   }
 }
-void DCCTimer::DCCEXInrushControlOn(uint8_t pin, int duty) {
+
+void DCCTimer::DCCEXInrushControlOn(uint8_t pin, int duty, bool inverted) {
+  // this uses hardcoded channel 0
   ledcSetup(0, 62500, 8);
-  ledcAttachPin(pin, 0);
+  DCCEXledcAttachPin(pin, 0, inverted);
   ledcWrite(0, duty);
 }
 

DCCTimerSTM32.cpp

@@ -333,7 +333,9 @@ void DCCTimer::DCCEXanalogWriteFrequencyInternal(uint8_t pin, uint32_t frequency
   return;
 }
 
-void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
+void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value, bool invert) {
+    if (invert)
+      value = 255-value;
     // Calculate percentage duty cycle from value given
     uint32_t duty_cycle = (value * 100 / 256) + 1;
     if (pin_timer[pin] != NULL) {

MotorDriver.cpp

@@ -336,8 +336,6 @@ void MotorDriver::setDCSignal(byte speedcode, uint8_t frequency /*default =0*/)
   if (tSpeed <= 1) brake = 255;
   else if (tSpeed >= 127) brake = 0;
   else  brake = 2 * (128-tSpeed);
-  if (invertBrake)
-    brake=255-brake;
 
   { // new block because of variable f
 #if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
@@ -351,10 +349,10 @@ void MotorDriver::setDCSignal(byte speedcode, uint8_t frequency /*default =0*/)
 #endif
     //DIAG(F("Brake pin %d freqency %d"), brakePin, f);
     DCCTimer::DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency
-    DCCTimer::DCCEXanalogWrite(brakePin,brake);
+    DCCTimer::DCCEXanalogWrite(brakePin, brake, invertBrake);
 #else // all AVR here
     DCCTimer::DCCEXanalogWriteFrequency(brakePin, frequency); // frequency steps
-    analogWrite(brakePin,brake);
+    analogWrite(brakePin, invertBrake ? 255-brake : brake);
 #endif
   }
 
@@ -407,16 +405,16 @@ void MotorDriver::throttleInrush(bool on) {
   if ( !(trackMode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_EXT | TRACK_MODE_BOOST)))
     return;
   byte duty = on ? 207 : 0; // duty of 81% at 62500Hz this gives pauses of 3usec
-  if (invertBrake)
-    duty = 255-duty;
 #if defined(ARDUINO_ARCH_ESP32)
   if(on) {
-    DCCTimer::DCCEXInrushControlOn(brakePin, duty);
+    DCCTimer::DCCEXInrushControlOn(brakePin, duty, invertBrake);
   } else {
     ledcDetachPin(brakePin); // not DCCTimer::DCCEXledcDetachPin() as we have not
                              // registered the pin in the pin to channel array
   }
 #elif defined(ARDUINO_ARCH_STM32)
+  if (invertBrake)
+    duty = 255-duty;
   if(on) {
     DCCTimer::DCCEXanalogWriteFrequency(brakePin, 7); // 7 means max
     DCCTimer::DCCEXanalogWrite(brakePin,duty);
@@ -424,6 +422,8 @@ void MotorDriver::throttleInrush(bool on) {
     pinMode(brakePin, OUTPUT);
   }
 #else // all AVR here
+  if (invertBrake)
+    duty = 255-duty;
   if(on){
     DCCTimer::DCCEXanalogWriteFrequency(brakePin, 7); // 7 means max
   }

MotorDriver.h

@@ -193,7 +193,7 @@ class MotorDriver {
       }
     };
     inline pinpair getSignalPin() { return pinpair(signalPin,signalPin2); };
-    inline byte getBrakePin() { return brakePin; };
+    inline int8_t getBrakePinSigned() { return invertBrake ? -brakePin : brakePin; };
     void setDCSignal(byte speedByte, uint8_t frequency=0);
     void throttleInrush(bool on);
     inline void detachDCSignal() {

TrackManager.cpp

@@ -264,14 +264,18 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 #ifdef ARDUINO_ARCH_ESP32
 	int trackfound = -1;
 	FOR_EACH_TRACK(t) {
-	  if ((track[t]->getMode() & TRACK_MODE_DC) && trackDCAddr[t] == dcAddr) {
+	  //DIAG(F("Checking track %c mode %x dcAddr %d"), 'A'+t, track[t]->getMode(), trackDCAddr[t]);
+	  if (t != trackToSet                          // not our track
+	      && (track[t]->getMode() & TRACK_MODE_DC) // right mode
+	      && trackDCAddr[t] == dcAddr) {           // right addr
+	    //DIAG(F("Found track %c"), 'A'+t);
 	    trackfound = t;
 	    break;
 	  }
 	}
 	if (trackfound > -1) {
-	  DCCTimer::DCCEXanalogCopyChannel(track[trackfound]->getBrakePin(),
+	  DCCTimer::DCCEXanalogCopyChannel(track[trackfound]->getBrakePinSigned(),
-					   track[trackToSet]->getBrakePin());
+					   track[trackToSet]->getBrakePinSigned());
 	}
 #endif
       }